fixed some bugs.
got rid of pointers.
Merge branch 'master' of https://github.com/pkok/Robolab
git statusMerge branch 'master' of https://github.com/pkok/Robolab
Merge branch 'master' of https://github.com/pkok/Robolab
Merge branch 'master' of https://github.com/pkok/Robolab
Merge branch 'master' of https://github.com/pkok/Robolab
Merge branch 'master' of https://github.com/pkok/Robolab
Merge branch 'master' of https://github.com/pkok/Robolab
Merge branch 'master' of https://github.com/pkok/Robolab
Merge branch 'master' of https://github.com/pkok/Robolab
Merge branch 'master' of https://github.com/pkok/Robolab
Merge branch 'master' of https://github.com/pkok/Robolab
updated feature map X_crossings in constructor.